A system to navigate an object traveling in an imaged subject is provided. The system includes a four-dimensional (4D) imaging system to create a first three-dimensional model of the acquired imaged data correlated relative to a time reference and defined relative to a first image coordinate system. A second imaging system creates a second three-dimensional model of the imaged subject defined relative to a second image coordinate system. A tracking system tracks movement and orientation of the object relative to a tracking coordinate system. A controller includes program instructions in combination with the processor operable to register the first and second image coordinate systems and the tracking coordinate system relative to a world coordinate system, and to combine the three-dimensional model created by the 4D imaging system with the three-dimensional model created by the second imaging system with a tracked location of the object relative to the world coordinate system.
